In this case, you’ll want to use the layering technique I mentioned in my other post instead of the if statements.
An example of a layered motor spin command would be:
Motor1.spin(directionType::fwd, Controller.Axis3.value() - Controller.Axis1.value(), velocityUnits::pct);
In the example, you’re directly subtracting the values of axis 3 and axis 1 to “layer” them. Why are we subtracting in this example? Because in this case, if my robot is turning, Motor1 will need to spin backward. So however much you turn is however much is subtracted from the motor percentage. Similarly, on the other side of the robot, say Motor4, it would be added instead of subtracted because if my robot is turning then I would need Motor4’s speed value to increase in order to turn.
Hope that helps!